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CudaSIFT-SLAM: multiple-map visual SLAM for full procedure mapping in real human endoscopy
Richard Elvira, Juan D. Tardós, José M. M. Montiel
Monocular visual simultaneous localization and mapping (V-SLAM) is nowadays an irreplaceable tool in mobile robotics and augmented reality, where it performs robustly. However, hum…
NR-SLAM: Non-Rigid Monocular SLAM
Juan J. Gomez Rodriguez, J. M. M Montiel, Juan D. Tardos
In this paper we present NR-SLAM, a novel non-rigid monocular SLAM system founded on the combination of a Dynamic Deformation Graph with a Visco-Elastic deformation model. The form…
ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez +2
This paper presents ORB-SLAM3, the first system able to perform visual, visual-inertial and multi-map SLAM with monocular, stereo and RGB-D cameras, using pin-hole and fisheye lens…